Is there is any possible way of lifting this life long sentence on the firearms side?

I moved about 7 months ago. Before that, I lived in another state for about 2 years. Before that, I lived in another state for many, many years. My question is about firearms. About 6 years ago, I was 22 years old, I got a class F Felony burglary on my record. I think they're actually counting it as more than one, because I got party to a crime in a burglary. I wasn't even the one to do the actual burgling, but they charged me just the same. I should mention that I had never been into any kind of trouble before this. It was 100% nonviolent and nobody was even there. I was sentenced to 9 months in jail. I only had to serve 4 1/2 months in jail, and then the other 4 1/2 on house arrest. I was on work release for the whole time as well. I also got 4 year probation. So, I have been off probation for a couple years now. I've moved on since then. I got married, had kids. I'm turning 29 in July. I never thought I would care about not being able to vote, or own a firearm, but I was wrong. Now that I have kids, I just want to protect my kids and wife. I'm not sure why, but I just don't feel as safe as I used to. We plan on going camping in the mountains this summer, but when we hiked there last summer we just didn't feel safe. We live in an apartment with a lot of people around us all the time. There is some crime here. Our vehicles have been broken into a couple of times already, and there are some very shady people around this area. I just want to be able to protect my family in case anything very bad happened. I have never been a violent person and I have never been in trouble before or after the incident that is stopping me from owning protection. I'm willing to go through whatever steps I have to in order to make it happen. Can I do anything?